Degree of freedom in opened chains
Example of four degrees of freedom in open chain
In open chains it is easy to calculate how many degrees of freedom. For a robot just by calculating the rotations axes and prismatic axes. In the example up we have four revolute joints that means we have four degrees of freedom
Degree of freedom in closed chains
How to calculate degree of freedom for closed chains?
We need to define how many links, revolute joints and prismatic joints.
Example 1
Closed chain
In the example up we calculate degree of freedom this way:
3(5-1)-2(5)-2(0)= 2 dof
Example 2
Closed chain by a prismatic joint
Example 3
Closed chain
Stewart platform
How to calculate Stewart platform degree of freedom?
